EP0943527A3 - Système de direction assistée électrique muni d'un moyen de commande de courant de moteur amélioré avec filtre coupe-bande - Google Patents

Système de direction assistée électrique muni d'un moyen de commande de courant de moteur amélioré avec filtre coupe-bande Download PDF

Info

Publication number
EP0943527A3
EP0943527A3 EP99105003A EP99105003A EP0943527A3 EP 0943527 A3 EP0943527 A3 EP 0943527A3 EP 99105003 A EP99105003 A EP 99105003A EP 99105003 A EP99105003 A EP 99105003A EP 0943527 A3 EP0943527 A3 EP 0943527A3
Authority
EP
European Patent Office
Prior art keywords
motor current
motor
command signal
current command
notch filter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP99105003A
Other languages
German (de)
English (en)
Other versions
EP0943527A2 (fr
EP0943527B1 (fr
Inventor
Engelbert Lu
Kevin M. Mclaughlin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Active Safety and Electronics US LLC
Original Assignee
TRW Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by TRW Inc filed Critical TRW Inc
Publication of EP0943527A2 publication Critical patent/EP0943527A2/fr
Publication of EP0943527A3 publication Critical patent/EP0943527A3/fr
Application granted granted Critical
Publication of EP0943527B1 publication Critical patent/EP0943527B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0472—Controlling the motor for damping vibrations

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Electric Motors In General (AREA)
EP99105003A 1998-03-20 1999-03-19 Système de direction assistée électrique muni d'un moyen de commande de courant de moteur amélioré avec filtre coupe-bande Expired - Lifetime EP0943527B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/044,979 US6107767A (en) 1998-03-20 1998-03-20 Electric assist steering system having an improved motor current controller with notch filter
US44979 1998-03-20

Publications (3)

Publication Number Publication Date
EP0943527A2 EP0943527A2 (fr) 1999-09-22
EP0943527A3 true EP0943527A3 (fr) 2001-11-07
EP0943527B1 EP0943527B1 (fr) 2004-02-18

Family

ID=21935354

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99105003A Expired - Lifetime EP0943527B1 (fr) 1998-03-20 1999-03-19 Système de direction assistée électrique muni d'un moyen de commande de courant de moteur amélioré avec filtre coupe-bande

Country Status (5)

Country Link
US (1) US6107767A (fr)
EP (1) EP0943527B1 (fr)
JP (1) JPH11313497A (fr)
BR (1) BR9901165A (fr)
DE (1) DE69914816T2 (fr)

Families Citing this family (67)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11305803A (ja) * 1998-04-24 1999-11-05 Hitachi Ltd 制御装置
GB9919277D0 (en) * 1999-08-17 1999-10-20 Trw Lucas Varity Electric Method and apparatus for controlling an electric power assisted steering system using an adaptive blending torque filter
WO2001020411A1 (fr) 1999-09-16 2001-03-22 Delphi Technologies, Inc. Appareil et procede de linearisation de couple dans un systeme de direction assistee electrique
EP1219014A4 (fr) * 1999-09-16 2007-08-15 Delphi Tech Inc Procede permettant de reduire au minimum l'ondulation du couple moteur due a des desequilibres
US6674789B1 (en) 1999-09-17 2004-01-06 Delphi Technologies, Inc. Reduction of EMI through switching frequency dithering
JP3710673B2 (ja) * 2000-03-17 2005-10-26 三菱電機株式会社 車載用電動機制御装置
JP2002002514A (ja) * 2000-06-16 2002-01-09 Unisia Jecs Corp 電動モータ駆動式操舵補助装置の異常判定装置
US6424107B1 (en) * 2000-09-06 2002-07-23 Trw Inc. Apparatus and method for controlling an electric motor
US6492788B1 (en) 2000-11-10 2002-12-10 Otis Elevator Company Method and apparatus for encoderless operation of a permanent magnet synchronous motor in an elevator
JP4623824B2 (ja) * 2000-12-28 2011-02-02 カヤバ工業株式会社 電動パワーステアリング制御装置
GB2372020A (en) * 2001-02-07 2002-08-14 Lucas Industries Ltd Haptic controller for electrically-assisted power steering in road vehicles
JP4009589B2 (ja) * 2001-06-08 2007-11-14 デルファイ・テクノロジーズ・インコーポレーテッド 電気パワーステアリングシステムのための速度補償制御
US6694287B2 (en) 2001-08-30 2004-02-17 Delphi Technologies, Inc. Phase angle diagnostics for sinusoidal controlled electric machine
US20030062868A1 (en) * 2001-10-01 2003-04-03 Mir Sayeed A. Switching methodology for ground referenced voltage controlled electric machine
US6942057B2 (en) * 2001-11-21 2005-09-13 Delphi Technologies, Inc. Feel control for active steering
US6674962B2 (en) 2002-01-29 2004-01-06 Siemens Vdo Automotive, Inc. Limited-pool random frequency for DC brush motor low frequency PWM speed control
US6661191B2 (en) 2002-01-30 2003-12-09 Visteon Global Technologies, Inc. Method and apparatus for compensating drive current for an electric motor vehicle steering system
US6845309B2 (en) 2002-01-30 2005-01-18 Visteon Global Technologies, Inc. Electric power assist torque check
US6731085B2 (en) 2002-04-02 2004-05-04 Trw Inc. Method and apparatus for determining motor faults in an electric assist steering system
DE10216104B4 (de) * 2002-04-12 2006-07-27 Zf Lenksysteme Gmbh Verfahren zum Betrieb eines Lenksystems für ein Kraftfahrzeug
US6789641B2 (en) * 2002-08-14 2004-09-14 Trw Inc. Method and apparatus for controlling an electric assist motor using a modified blending filter
US6734649B1 (en) 2003-01-08 2004-05-11 Trw Automotive U.S. Llc Dynamic tuning of current loop controller for a permanent magnet brushless motor
JP4033070B2 (ja) * 2003-07-30 2008-01-16 株式会社デンソー パワーステアリング装置
GB0401965D0 (en) * 2004-01-30 2004-03-03 Trw Lucasvarity Electric Steer Method and apparatus for controlling an electric assist motor using a modified blending filter
US7044264B2 (en) * 2004-02-17 2006-05-16 Denso Corporation Electrically driven power steering system for vehicle
US7101310B2 (en) * 2004-04-19 2006-09-05 Magna Powertrain Usa, Inc. Model-based control for torque biasing system
JP4430459B2 (ja) * 2004-05-26 2010-03-10 トヨタ自動車株式会社 車両のスタビライザ装置
EP1616774A3 (fr) * 2004-07-15 2007-08-08 NSK Ltd., Direction assistée électrique
US7483796B2 (en) * 2004-12-08 2009-01-27 Trw Automotive U.S. Llc Method and apparatus for determining faults in an electric assist steering system
DE102005003180B4 (de) * 2005-01-19 2015-04-02 Volkswagen Ag Vorrichtung und Verfahren zur Reduzierung von Fehlanregungen am Lenkrad
US9139294B2 (en) * 2005-03-01 2015-09-22 Borealis Technical Limited Motor controller
US7163080B2 (en) * 2005-03-11 2007-01-16 Trw Automotive U.S. Llc Method and apparatus for detecting a failed temperature sensor in an electric assist steering system
US7295907B2 (en) * 2005-06-14 2007-11-13 Trw Automotive U.S. Llc Recovery of calibrated center steering position after loss of battery power
JP4847060B2 (ja) 2005-07-15 2011-12-28 日立オートモティブシステムズ株式会社 交流モータ駆動装置及びその制御方法
JP4449918B2 (ja) * 2006-02-15 2010-04-14 トヨタ自動車株式会社 電動パワーステアリング装置
US8099211B2 (en) * 2007-04-20 2012-01-17 Jtekt Corporation Electric power steering apparatus
JP4967829B2 (ja) * 2007-06-04 2012-07-04 株式会社ジェイテクト 電動パワーステアリング装置
DE102011055339B4 (de) * 2011-11-15 2018-06-14 Robert Bosch Automotive Steering Gmbh Verfahren zum bestimmen einer zahnstangenkraft für eine lenkvorrichtung und lenkvorrichtung
JP5777797B2 (ja) * 2012-03-06 2015-09-09 三菱電機株式会社 電動パワーステアリング駆動装置
JP5734399B2 (ja) * 2013-12-03 2015-06-17 三菱電機株式会社 電動パワーステアリング装置
CN103701392B (zh) * 2013-12-17 2016-01-20 华中科技大学 一种基于自适应陷波器的电流谐波补偿系统
JP6312517B2 (ja) * 2014-05-07 2018-04-18 山洋電気株式会社 モータ制御装置
US10230548B2 (en) * 2014-07-23 2019-03-12 Regal Beloit America, Inc. Systems and methods for communicating with electric motors
EP3192721B1 (fr) * 2014-09-12 2019-05-01 Mitsubishi Electric Corporation Dispositif de commande de direction
DE102015112469A1 (de) * 2015-07-30 2017-02-02 Robert Bosch Automotive Steering Gmbh Plausibilisierung feldorientierter steuerung
JP6222411B2 (ja) 2015-08-19 2017-11-01 日本精工株式会社 電動パワーステアリング装置
US9966890B2 (en) * 2016-02-16 2018-05-08 Steering Solutions Ip Holding Corporation Detection of offset errors in phase current measurement for motor control system
US9873450B2 (en) * 2016-02-16 2018-01-23 Steering Solutions Ip Holding Corporation Detection of offset errors in phase current measurement for motor control system
CN114696592A (zh) * 2016-04-15 2022-07-01 艾默生环境优化技术有限公司 功率因数校正系统和方法
EP3315387B1 (fr) * 2016-05-12 2019-12-25 NSK Ltd. Appareil de direction à assistance électrique
WO2017203595A1 (fr) * 2016-05-24 2017-11-30 三菱電機株式会社 Dispositif de direction assistée électrique
JP7126049B2 (ja) * 2016-09-29 2022-08-26 パナソニックＩｐマネジメント株式会社 電動機制御装置および電動機制御方法
KR102205254B1 (ko) * 2017-04-27 2021-01-21 현대모비스 주식회사 전동식 파워 스티어링 시스템의 모터 제어 장치 및 방법
DE102017118457B4 (de) * 2017-08-14 2021-06-10 Danfoss Power Solutions Aps Lenkhandradwinkelsensoranordnung einer hydraulischen Lenkanordnung
FR3071473B1 (fr) * 2017-09-25 2021-12-10 Jtekt Europe Sas Adaptation d’un gain de derivee en fonction du couple volant pour ameliorer le ressenti d’un systeme de direction assistee
JP6965697B2 (ja) * 2017-11-09 2021-11-10 株式会社ジェイテクト 操舵制御装置
KR101954762B1 (ko) * 2018-01-02 2019-05-23 이래에이엠에스 주식회사 전동 어시스트 조향 시스템의 모터 제어 방법 및 장치
KR101998368B1 (ko) * 2018-01-03 2019-07-09 이래에이엠에스 주식회사 전동 어시스트 조향 시스템의 모터 제어 방법 및 장치
US11117612B2 (en) 2018-03-09 2021-09-14 Steering Solutions Ip Holding Corporation Dither noise management in electric power steering systems
US10611406B2 (en) * 2018-05-31 2020-04-07 Deere & Company Rotary position sensor isolator
CN109240087B (zh) * 2018-10-23 2022-03-01 固高科技股份有限公司 实时改变指令规划频率抑制振动的方法和系统
JP7319832B2 (ja) * 2019-06-06 2023-08-02 株式会社Subaru ステアリング装置
CN114206705B (zh) 2019-08-09 2024-01-12 日本电产株式会社 控制装置、驱动装置、电动助力转向装置以及控制方法
DE102019220118A1 (de) * 2019-12-19 2021-06-24 Continental Automotive Gmbh Verfahren zur Bestimmung der Fahrtrichtung eines Fahrzeugs
CN113890453A (zh) * 2020-04-08 2022-01-04 高创传动科技开发（深圳）有限公司 伺服系统及其谐振抑制方法
GB2603268B (en) * 2020-11-26 2023-06-14 Bae Systems Plc Autonomous taxiing method and apparatus
EP4006879A1 (fr) * 2020-11-26 2022-06-01 BAE SYSTEMS plc Procédé et appareil de circulation au sol autonome

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4961038A (en) * 1989-10-16 1990-10-02 General Electric Company Torque estimator for switched reluctance machines
EP0469617A1 (fr) * 1990-08-01 1992-02-05 Mitsubishi Denki Kabushiki Kaisha Système de régulation en boucle fermée avec filtre adaptatif
DE19615377A1 (de) * 1995-04-21 1996-10-24 Nsk Ltd Steuervorrichtung für elektrisches Lenkservosystem
US5610483A (en) * 1994-03-18 1997-03-11 Hitachi Ltd. Control equipment for electric vehicle and control method thereof

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US32222A (en) * 1861-04-30 gwynne
US4096422A (en) * 1975-12-03 1978-06-20 E. I. Du Pont De Nemours And Company Motor control system
GB1577132A (en) * 1976-03-19 1980-10-22 Rca Corp Compensation apparatus for a servo system with periodic command signals
US4300081A (en) * 1980-03-14 1981-11-10 General Motors Corporation Motor voltage feedback for a servo motor control system
US4415054A (en) 1982-08-05 1983-11-15 Trw Inc. Steering gear
GB2155657B (en) * 1983-10-13 1987-01-21 Ferranti Plc Position servo system
US4825132A (en) * 1987-05-21 1989-04-25 Eaton Corporation Current mode motor control
JPH0820905B2 (ja) * 1988-03-10 1996-03-04 富士通株式会社 サーボ位置決め装置
US5034668A (en) * 1989-12-04 1991-07-23 Synektron Corporation Control circuit for an electric motor
US5223775A (en) * 1991-10-28 1993-06-29 Eml Research, Inc. Apparatus and related method to compensate for torque ripple in a permanent magnet electric motor
US5369345A (en) * 1992-03-31 1994-11-29 Seagate Technology, Inc. Method and apparatus for adaptive control
US5216345A (en) * 1992-05-04 1993-06-01 Hughes Aircraft Company Mixed mode stepper motor controller and method
US5625239A (en) * 1992-06-03 1997-04-29 Trw Inc. Method and apparatus for sensing relative position between two relatively rotatable members using concentric rings
US5257828A (en) * 1992-06-03 1993-11-02 Trw Inc. Method and apparatus for controlling damping in an electric assist steering system for vehicle yaw rate control
US5325247A (en) * 1992-11-12 1994-06-28 Quantum Corporation Digital multi-rate notch filter for sampled servo digital control system
US5568389A (en) * 1994-03-11 1996-10-22 Trw Inc. Method and apparatus for controlling an electric assist steering system
US5473231A (en) * 1994-05-11 1995-12-05 Trw Inc. Method and apparatus for controlling an electric assist steering system using an adaptive torque filter
US5475289A (en) * 1994-11-04 1995-12-12 Trw Inc. Method and apparatus for controlling an electric assist steering system using two-dimensional interpolation for current commands
JPH08282519A (ja) * 1995-04-10 1996-10-29 Mitsubishi Electric Corp 電動パワーステアリング装置の制御装置
US5712539A (en) * 1995-06-07 1998-01-27 Exabyte Corporation Digital acoustic noise reduction in electric motors driven by switching power amplifiers
US5668721A (en) * 1995-10-02 1997-09-16 General Motors Corporation Electric power steering motor control
US5704446A (en) * 1995-10-02 1998-01-06 General Motors Corporation Electric power steering control

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4961038A (en) * 1989-10-16 1990-10-02 General Electric Company Torque estimator for switched reluctance machines
EP0469617A1 (fr) * 1990-08-01 1992-02-05 Mitsubishi Denki Kabushiki Kaisha Système de régulation en boucle fermée avec filtre adaptatif
US5610483A (en) * 1994-03-18 1997-03-11 Hitachi Ltd. Control equipment for electric vehicle and control method thereof
DE19615377A1 (de) * 1995-04-21 1996-10-24 Nsk Ltd Steuervorrichtung für elektrisches Lenkservosystem

Also Published As

Publication number Publication date
EP0943527A2 (fr) 1999-09-22
JPH11313497A (ja) 1999-11-09
DE69914816D1 (de) 2004-03-25
EP0943527B1 (fr) 2004-02-18
BR9901165A (pt) 1999-12-14
DE69914816T2 (de) 2004-12-02
US6107767A (en) 2000-08-22

Similar Documents

Publication Publication Date Title
EP0943527A3 (fr) Système de direction assistée électrique muni d'un moyen de commande de courant de moteur amélioré avec filtre coupe-bande
JP2914610B2 (ja) 電動パワーステアリング装置
EP0855829A3 (fr) Procédé et dispositif pour cacher un code authenticité dans un signal electrique
EP0943528A3 (fr) Système de direction assistée électrique muni d'un moyen de commande de courant de moteur amélioré avec embarqueur de gain
EP0646799A3 (fr) Capteur d'accélération
US20030029239A1 (en) Angular velocity sensor
EP1053928A3 (fr) Unité d'entraínement d'un moteur à courant continu et dispositif de commande de direction assistée
US20040177690A1 (en) Vibration type angular velocity sensor
EP0765795A3 (fr) Commande automatique de gain d'un capteur de couple pour un système de direction assistée
JP2002523727A (ja) 測定回路
SE9401847L (sv) Metod och anordning för att utföra faskompensering i ett fordons styrsystem
EP0343976A3 (fr) Appareil de filtre
EP0788965A3 (fr) Direction assistée électrique
US5012196A (en) Capacitance sensor arrangement
AU4182389A (en) Method and electrical system for recording and processing time-related data
EP0125918A3 (fr) Système de direction de véhicule servocommandé ou assisté
CA2182332A1 (fr) Methode et appareil pour la commande d'un moteur
ES2172167T3 (es) Procedimiento y dispositivo para la compensacion de fase en el sistema de control de un vehiculo de motor.
JP3294735B2 (ja) 移動車の誘導制御装置
ATE211560T1 (de) Verfahren und vorrichtung zur phasenkompensierung in einem kraftfahrzeugsteuersystem
JPH0537217Y2 (fr)
KR100270768B1 (ko) 회전 각속도 센서
JPH0251380A (ja) 超音波モータ駆動回路
JP2734836B2 (ja) 力学量検出器
JPH0544884Y2 (fr)

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

Kind code of ref document: A2

Designated state(s): DE FR GB IT

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

RIC1 Information provided on ipc code assigned before grant

Free format text: 7B 62D 6/00 A, 7B 62D 5/04 B, 7H 02P 7/05 B

17P Request for examination filed

Effective date: 20020507

AKX Designation fees paid

Free format text: DE FR GB IT

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB IT

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: TRW AUTOMOTIVE U.S. LLC

REF Corresponds to:

Ref document number: 69914816

Country of ref document: DE

Date of ref document: 20040325

Kind code of ref document: P

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20041119

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20070202

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20070529

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20070301

Year of fee payment: 9

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20080319

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20081125

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080331

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080319

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20080319

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20090331

Year of fee payment: 11

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20101001